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Commit 98f386c3 authored by Angel Santamaria-Navarro's avatar Angel Santamaria-Navarro
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Merge branch 'master' into update_scripts

parents b60c53f1 27cf6fc1
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1 merge request!225Update scripts
Pipeline #2311 passed
...@@ -26,3 +26,4 @@ src/examples/map_polyline_example_write.yaml ...@@ -26,3 +26,4 @@ src/examples/map_polyline_example_write.yaml
src/CMakeCache.txt src/CMakeCache.txt
src/CMakeFiles/cmake.check_cache src/CMakeFiles/cmake.check_cache
src/examples/map_apriltag_save.yaml
...@@ -75,7 +75,7 @@ int main() ...@@ -75,7 +75,7 @@ int main()
std::string wolf_config = wolf_root + "/src/examples"; std::string wolf_config = wolf_root + "/src/examples";
std::cout << "\nWolf directory for configuration files: " << wolf_config << std::endl; std::cout << "\nWolf directory for configuration files: " << wolf_config << std::endl;
ProblemPtr problem = Problem::create(FRM_PO_2D); ProblemPtr problem = Problem::create("PO 2D");
filename = wolf_config + "/map_polyline_example.yaml"; filename = wolf_config + "/map_polyline_example.yaml";
std::cout << "Reading map from file: " << filename << std::endl; std::cout << "Reading map from file: " << filename << std::endl;
problem->loadMap(filename); problem->loadMap(filename);
......
...@@ -71,27 +71,27 @@ int main() ...@@ -71,27 +71,27 @@ int main()
// Processor Image parameters // // Processor Image parameters
//
ProcessorParamsImage p; // ProcessorParamsImage p;
//
Node params = YAML::LoadFile(wolf_root + "/src/examples/processor_image_feature.yaml"); // Node params = YAML::LoadFile(wolf_root + "/src/examples/processor_image_feature.yaml");
//
if (params["processor type"]) // if (params["processor type"])
{ // {
Node as = params["active search"]; // Node as = params["active search"];
p.active_search.grid_width = as["grid width"].as<unsigned int>(); // p.active_search.grid_width = as["grid width"].as<unsigned int>();
p.active_search.grid_height = as["grid height"].as<unsigned int>(); // p.active_search.grid_height = as["grid height"].as<unsigned int>();
p.active_search.separation = as["separation"].as<unsigned int>(); // p.active_search.separation = as["separation"].as<unsigned int>();
//
Node img = params["image"]; // Node img = params["image"];
p.image.width = img["width"].as<unsigned int>(); // p.image.width = img["width"].as<unsigned int>();
p.image.height = img["height"].as<unsigned int>(); // p.image.height = img["height"].as<unsigned int>();
//
Node alg = params["algorithm"]; // Node alg = params["algorithm"];
p.max_new_features = alg["maximum new features"].as<unsigned int>(); // p.max_new_features = alg["maximum new features"].as<unsigned int>();
p.min_features_for_keyframe = alg["minimum features for new keyframe"].as<unsigned int>(); // p.min_features_for_keyframe = alg["minimum features for new keyframe"].as<unsigned int>();
} // }
return 0; return 0;
......
...@@ -20,8 +20,8 @@ class LandmarkAHP : public LandmarkBase ...@@ -20,8 +20,8 @@ class LandmarkAHP : public LandmarkBase
{ {
protected: protected:
cv::Mat cv_descriptor_; cv::Mat cv_descriptor_;
FrameBasePtr anchor_frame_; // TODO check pointer type FrameBasePtr anchor_frame_;
SensorBasePtr anchor_sensor_; // TODO check pointer type SensorBasePtr anchor_sensor_;
public: public:
LandmarkAHP(Eigen::Vector4s _position_homogeneous, FrameBasePtr _anchor_frame, SensorBasePtr _anchor_sensor, cv::Mat _2D_descriptor); LandmarkAHP(Eigen::Vector4s _position_homogeneous, FrameBasePtr _anchor_frame, SensorBasePtr _anchor_sensor, cv::Mat _2D_descriptor);
......
...@@ -176,7 +176,6 @@ void ProcessorTrackerFeatureCorner::extractCorners(CaptureLaser2DPtr _capture_la ...@@ -176,7 +176,6 @@ void ProcessorTrackerFeatureCorner::extractCorners(CaptureLaser2DPtr _capture_la
measurement.head(2) = corner.pt_.head(2); measurement.head(2) = corner.pt_.head(2);
measurement(2) = corner.orientation_; measurement(2) = corner.orientation_;
measurement(3) = corner.aperture_; measurement(3) = corner.aperture_;
// TODO: maybe in line object?
Scalar L1 = corner.line_1_.length(); Scalar L1 = corner.line_1_.length();
Scalar L2 = corner.line_2_.length(); Scalar L2 = corner.line_2_.length();
Scalar cov_angle_line1 = 12 * corner.line_1_.error_ Scalar cov_angle_line1 = 12 * corner.line_1_.error_
......
...@@ -453,7 +453,7 @@ TEST(Odom2D, KF_callback) ...@@ -453,7 +453,7 @@ TEST(Odom2D, KF_callback)
// check the split KF // check the split KF
ASSERT_POSE2D_APPROX(keyframe_1->getState() , integrated_pose_vector[m_split], 1e-6); ASSERT_POSE2D_APPROX(keyframe_1->getState() , integrated_pose_vector[m_split], 1e-6);
ASSERT_MATRIX_APPROX(problem->getFrameCovariance(keyframe_1) , integrated_cov_vector [m_split], 1e-6); // FIXME test does not pass ASSERT_MATRIX_APPROX(problem->getFrameCovariance(keyframe_1) , integrated_cov_vector [m_split], 1e-6);
// check other KF in the future of the split KF // check other KF in the future of the split KF
ASSERT_POSE2D_APPROX(problem->getLastKeyFramePtr()->getState() , integrated_pose_vector[n_split], 1e-6); ASSERT_POSE2D_APPROX(problem->getLastKeyFramePtr()->getState() , integrated_pose_vector[n_split], 1e-6);
......
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